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US 12,015,319 B2Granted
Transport system
AssigneeCanon Kabushiki Kaisha
InventorTakeshi Yamamoto
Life of this patent
Estimating the term…
Abstract
A transport system includes: a mover that is movable in a transport direction; a stator that has a plurality of coils arranged in the transport direction and applies force to the mover by using the plurality of coils to which current is applied; an acquisition unit that acquires a position and an attitude of the mover moving in the transport direction; and a control unit that determines a current value applied to the plurality of coils and controls the force based on the position and the attitude of the mover.
Claims19
A transport system comprising:
- a mover that is movable in a transport direction;
- a stator that has a plurality of coils arranged in the transport direction and applies force to the mover by using the plurality of coils to which current is applied;
- an acquisition unit that acquires a position and an attitude of the mover moving in the transport direction;
- and
- a control unit that controls the force by current applied to the plurality of coils based on the acquired position and the acquired attitude of the mover,
- wherein the acquisition unit acquires, as the position and the attitude,
- a displacement in a first direction that is the transport direction, and
- at least one of a displacement in a second direction crossing the first direction, a displacement in a third direction crossing the first direction and the second direction, a displacement in a fourth direction around an axis along the first direction, a displacement in a fifth direction around an axis along the second direction, and a displacement in a sixth direction around an axis along the third direction,
- wherein the mover has a permanent magnet array including a first permanent magnet array in which a plurality of permanent magnets are arranged along the first direction and a second permanent magnet array in which a plurality of permanent magnets are arranged along the third direction,
- wherein the plurality of coils face the first permanent magnet array and the second permanent magnet array,
- wherein the control unit controls at least one of respective components of the first to sixth directions by controlling current applied to the plurality of coils,
- wherein the acquisition unit acquires a twist of a mover due to a displacement in the first direction or the third direction, and
- wherein the control unit controls the twist of the mover by controlling current applied to the plurality of coils.
10 more elements
A transport system comprising:
- a mover that is movable in a transport direction;
- a stator that has a plurality of coils arranged in the transport direction and applies force to the mover by using the plurality of coils to which current is applied;
- an acquisition unit that acquires a position and an attitude of the mover moving in the transport direction;
- and
- a control unit that controls the force by current applied to the plurality of coils based on the acquired position and the acquired attitude of the mover,
- wherein the acquisition unit acquires, as the position and the attitude,
- a displacement in a first direction that is the transport direction, and
- at least one of a displacement in a second direction crossing the first direction, a displacement in a third direction crossing the first direction and the second direction, a displacement in a fourth direction around an axis along the first direction, a displacement in a fifth direction around an axis along the second direction, and a displacement in a sixth direction around an axis along the third direction,
- wherein the mover has a permanent magnet array including a first permanent magnet array in which a plurality of permanent magnets are arranged along the first direction and a second permanent magnet array in which a plurality of permanent magnets are arranged along the third direction,
- wherein the plurality of coils face the first permanent magnet array and the second permanent magnet array,
- wherein the control unit controls at least one of respective components of the first to sixth directions by controlling current applied to the plurality of coils,
- wherein the mover is larger in the second direction than in the third direction, and
- wherein the permanent magnet arrays are installed on at least one selected from a side face and an under face of the mover and on a top face of the mover.
10 more elements
A transport system comprising:
- a mover that is movable in a transport direction;
- a stator that has a plurality of coils arranged in the transport direction and applies force to the mover by using the plurality of coils to which current is applied;
- an acquisition unit that acquires a position and an attitude of the mover moving in the transport direction;
- and
- a control unit that controls the force by current applied to the plurality of coils based on the acquired position and the acquired attitude of the mover,
- wherein the acquisition unit acquires, as the position and the attitude,
- a displacement in a first direction that is the transport direction, and
- at least one of a displacement in a second direction crossing the first direction, a displacement in a third direction crossing the first direction and the second direction, a displacement in a fourth direction around an axis along the first direction, a displacement in a fifth direction around an axis along the second direction, and a displacement in a sixth direction around an axis along the third direction,
- wherein the mover has a permanent magnet array including a first permanent magnet array in which a plurality of permanent magnets are arranged along the first direction and a second permanent magnet array in which a plurality of permanent magnets are arranged along the third direction,
- wherein the plurality of coils face the first permanent magnet array and the second permanent magnet array,
- wherein the control unit controls at least one of respective components of the first to sixth directions by controlling current applied to the plurality of coils,
- wherein the mover is configured to be inverted so that a top face and an under face are exchanged, and
- wherein the permanent magnet array is provided to the mover so that the plurality of coils are configured to face the mover before and after inversion of the mover.
10 more elements
Dependencies are inferred from the claim text.